Environment property estimation and graphical display
AssigneeThe Johns Hopkins University
InventorsAllison M. Okamura, Tomonori Yamamoto, Balazs P. Vagvolgyi
Life of this patent
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Abstract
A surgical robot including an imaging system comprising at least one camera, a processor in communication with the imaging system, a manipulation system in communication with the processor, and a visual display in communication with the processor. The processor is operable to calculate a mechanical property estimate for an area of an environment based on an environment model of tool-environment interaction data, create a composite image comprising a mechanical property map of the mechanical property estimate overlaid on an environment image from the at least one camera, and output the composite image on the visual display.
Claims14
A method, comprising:
- determining, with a processor, tool-environment interaction data from a palpation of an area of an environment;
- calculating, with the processor, a mechanical property estimate of the area of the environment based on the tool-environment interaction data;
- receiving, with the processor, an environment image;
- generating, with the processor, a composite image comprising a mechanical property map of the mechanical property estimate overlaid on the environment;
- and
- outputting the composite image on a visual display.
Dependencies are inferred from the claim text.